Program Listing for File morton.h
↰ Return to documentation for file (/tmp/ws/src/hpp-fcl/include/hpp/fcl/broadphase/detail/morton.h
)
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011-2014, Willow Garage, Inc.
* Copyright (c) 2014-2016, Open Source Robotics Foundation
* Copyright (c) 2016, Toyota Research Institute
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Open Source Robotics Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef HPP_FCL_MORTON_H
#define HPP_FCL_MORTON_H
#include "hpp/fcl/BV/AABB.h"
#include <bitset>
namespace hpp {
namespace fcl {
namespace detail {
template <typename S>
uint32_t quantize(S x, uint32_t n);
HPP_FCL_DLLAPI
uint32_t morton_code(uint32_t x, uint32_t y, uint32_t z);
HPP_FCL_DLLAPI
uint64_t morton_code60(uint32_t x, uint32_t y, uint32_t z);
template <typename S, typename T>
struct morton_functor {};
template <typename S>
struct morton_functor<S, uint32_t> {
morton_functor(const AABB& bbox);
uint32_t operator()(const Vec3f& point) const;
const Vec3f base;
const Vec3f inv;
static constexpr size_t bits();
};
using morton_functoru32f = morton_functor<float, uint32_t>;
using morton_functoru32d = morton_functor<FCL_REAL, uint32_t>;
template <typename S>
struct morton_functor<S, uint64_t> {
morton_functor(const AABB& bbox);
uint64_t operator()(const Vec3f& point) const;
const Vec3f base;
const Vec3f inv;
static constexpr size_t bits();
};
template <typename S, size_t N>
struct morton_functor<S, std::bitset<N>> {
static_assert(N % 3 == 0, "Number of bits must be a multiple of 3");
morton_functor(const AABB& bbox);
std::bitset<N> operator()(const Vec3f& point) const;
const Vec3f base;
const Vec3f inv;
static constexpr size_t bits();
};
} // namespace detail
} // namespace fcl
} // namespace hpp
#include "hpp/fcl/broadphase/detail/morton-inl.h"
#endif